JP3837357B2 - Electronic pen data input device for computer and coordinate measuring method - Google Patents

Electronic pen data input device for computer and coordinate measuring method Download PDF

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Publication number
JP3837357B2
JP3837357B2 JP2002109737A JP2002109737A JP3837357B2 JP 3837357 B2 JP3837357 B2 JP 3837357B2 JP 2002109737 A JP2002109737 A JP 2002109737A JP 2002109737 A JP2002109737 A JP 2002109737A JP 3837357 B2 JP3837357 B2 JP 3837357B2
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Japan
Prior art keywords
electronic pen
writing surface
beam
input device
data input
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JP2003029915A (en
Inventor
慶植 慮
宰源 李
錫漢 李
龍哲 趙
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三星電子株式会社Samsung Electronics Co.,Ltd.
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Priority to KR2001-019570 priority Critical
Priority to KR10-2001-0019570A priority patent/KR100408518B1/en
Application filed by 三星電子株式会社Samsung Electronics Co.,Ltd. filed Critical 三星電子株式会社Samsung Electronics Co.,Ltd.
Publication of JP2003029915A publication Critical patent/JP2003029915A/en
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    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/20Image acquisition
    • G06K9/22Image acquisition using hand-held instruments
    • G06K9/222Image acquisition using hand-held instruments the instrument generating sequences of position coordinates corresponding to handwriting; preprocessing or recognising digital ink
    • G06K9/224Image acquisition using hand-held instruments the instrument generating sequences of position coordinates corresponding to handwriting; preprocessing or recognising digital ink in three dimensions
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0354Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
    • G06F3/03542Light pens for emitting or receiving light
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0354Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
    • G06F3/03545Pens or stylus

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an electronic pen data input device for a computer and a method of operating the same, and more particularly, information relating to a writing operation of an electronic pen using a three-axis acceleration sensor and an optical three-dimensional measuring device in a computer application device. The present invention relates to an electronic pen data input device for a computer and a coordinate measuring method.
[0002]
[Prior art]
Currently, an input device including a two-dimensional sensor array, such as an LCD tablet or a digitizer tablet, is widely used to input pen writing contents into a personal portable terminal or a computer application device. Since such an input device requires a two-dimensional sensor array having a relatively large area, a separate sensing plane is required. Therefore, it is difficult to carry, occupies a predetermined space, and has a disadvantage in terms of cost. From the technical trend, personal portable terminals are gradually becoming smaller and changing to wristwatch-like or wallet-like portable terminals. Due to the trend toward miniaturization, the display screen also shrinks, so that the writing method using a conventional tablet is made difficult to input data by a natural writing operation because the input space is reduced.
[0003]
In order to solve the above problems, if a document can be input using only a single electronic pen on a general plane without a physical tablet, a wider input space than a conventional pen input device can be provided. Therefore, since natural writing input is possible, it is very effective. In order to input a document or picture using such a self-motion sensing type electronic pen, the position coordinate of the electronic pen tip with respect to a certain reference coordinate system must be continuously obtained. However, most writing operations are performed in a down state in which the pen is in contact with the writing surface, and when moving, the pen is in an up state in which the pen is not in contact with the writing surface. In order to obtain the continuous coordinate value of the pen, a means capable of accurately measuring the position value even in a contact or non-contact state is required.
[0004]
Conventional electronic pen-like input devices are roughly divided into two types: a method of measuring the coordinates of the pen tip outside the pen and a method of measuring the movement of the pen tip inside the pen.
[0005]
As a method of measuring the coordinates of the pen tip outside the pen, a triangulation method (US Pat. No. 5,166,668), an electromagnetic wave (US Pat. No. 5,977,958) or an ultrasonic wave (US Pat. No. 4,478). No. 674), which uses the time difference of flight. However, since the system is configured to send a transmission signal from a pen and receive it from the outside, in a device such as a portable terminal, it is necessary to attach a receiver to the main body of the terminal, which is inconvenient to carry. There are disadvantages.
[0006]
Further, the built-in method for measuring the coordinates of the pen tip inside the pen is a method for sensing the movement of the pen tip inside the pen, and initially uses a ball rotation (US Pat. No. 5,027,115), There was a method to measure the force acting on the pen (US Pat. No. 5,111,004, US Pat. No. 5,981,883), but it is difficult to measure the movement of the pen if the pen moves away from the writing surface There is. A method for obtaining the position movement of the electronic pen through double integration using a biaxial or triaxial acceleration sensor mounted inside the pen (US Pat. No. 5,247,137, WO 94 / 09,447). U.S. Pat. No. 5,587,558) has been proposed. However, there is a problem that it is difficult to mount the acceleration sensor on the pen tip. When the acceleration sensor is mounted at a certain height, an influence on the tilt angle of the pen center axis is not taken into consideration, and there is a possibility that a large position error is caused. In addition, since the accumulated error increases due to double integration of the acceleration signal, there is a disadvantage that it is difficult to measure accurate motion.
[0007]
In order to correct such an influence on the tilt angle of the pen, AT Cross (US Pat. No. 5,434,371) moves two or more axes of acceleration sensor elements to the pen tip, and the signal processing unit Although a method of moving to the upper side has been proposed, there is a problem in that the sensor element and the signal processing unit are separated and the influence of electrical noise is great, and ink cannot be attached to the tip of the pen. On the other hand, Seiko (Japanese Patent No. 6-67,799) uses a biaxial acceleration and a two gyro to correct the tilt angle, finds the position of the acceleration by double integration, and simply integrates the angular velocity of the pen. To measure the tilt angle of the pen. In addition, Richo (US Pat. No. 5,902,968, US Pat. No. 5,981,884) incorporates a three-axis acceleration sensor and a three-axis gyro sensor inside the pen for general three-dimensional writing motion. A method for finding the position of a pen tip is presented. However, since the input plane must always be perpendicular to the direction of gravity, there are restrictions in use, and in the method using the inertial sensor (acceleration sensor, gyro), acceleration is penalized through double integration and angular velocity is penetrated through single integration. The position and angle of the sensor are estimated, but due to the noise and drift of the sensor signal, the accumulative error increases in proportion to the square of the time in the case of the acceleration system and in the case of the gyro, and the movement of the pen tip is estimated accurately. There are difficult problems.
[0008]
In order to reduce the accumulated error, Intersense recently added a technology to reduce the accumulated position error generated from inertial sensors (acceleration, angular velocity) by adding an ultrasonic sensor to a pen device using a 3-axis acceleration sensor and a 3-axis gyroscope. Presenting. However, adding such an external sensor has a problem of poor portability.
[0009]
[Problems to be solved by the invention]
In the present invention, in order to solve the problems of the conventional technology, even when writing is performed on a general plane at an arbitrary angle, or when writing is performed away from the plane, the cumulative error of the inertial sensor is continuously reduced. An object of the present invention is to provide an electronic pen data input device for computers and a coordinate measuring method capable of accurately following the movement of a typical electronic pen.
[0010]
[Means for Solving the Problems]
In order to achieve the above object, in the present invention, in an electronic pen having a pen-shaped housing, an optical type 3 for measuring the inclination angle of the central axis of the electronic pen with respect to the writing surface and the height of the electronic pen with respect to the writing surface. A dimension measuring device, a three-axis acceleration sensor for measuring the amount of movement of the electronic pen by three-dimensional movement, and information about the measured inclination angle, height, and amount of movement are transmitted to an external computing device. And an electronic pen data input device for a computer.
[0011]
In the present invention, the optical three-dimensional measuring apparatus includes a light emitting unit that emits a beam to form a spot on a predetermined writing surface, and a sensing unit that detects the beam spot formed on the writing surface, The light emitting unit writes a light source that emits a beam, a first lens that collimates a divergent beam generated by the light source, a grating that separates the beam that passes through the first lens, and a beam that passes through the first lens. A second lens that projects toward a surface, and the sensing unit primarily collects a spot beam connected to the writing surface, and a position detection that senses the beam that has passed through the camera lens. It is desirable to include a container.
[0012]
In the present invention, the optical three-dimensional measuring apparatus uses a spot beam received by the sensing unit to detect a beam spot position, and uses the detected beam spot position to detect the electron beam. It is desirable to further include a calculator for calculating the height and the inclination angle of the pen with respect to the writing surface.
[0013]
In the present invention, it is preferable that the electronic pen further includes a controller for adjusting on / off of the light source of the light emitting unit, and a storage unit for storing the information calculated by the external arithmetic device.
[0014]
In the present invention, the communication means is preferably an RF communication device.
[0015]
The electronic pen further includes a central processing unit for calculating the position of the electronic pen tip using data measured by the three-axis acceleration sensor and the optical three-dimensional measuring device, and the electronic pen is in contact with the writing surface of the electronic pen. It is preferable to further include a stress sensor connected to the electronic pen tip for detecting presence or absence.
[0016]
In the present invention, it is preferable that the electronic pen further includes an ink storage unit connected to the electronic pen chip for ejecting ink when the electronic pen is in contact with the writing surface for writing.
[0017]
According to the present invention, an electronic pen having a pen-shaped housing, an optical three-dimensional measuring device for measuring an inclination angle of the central axis of the electronic pen with respect to the writing surface and a height of the electronic pen with respect to the writing surface; , A three-axis acceleration sensor for measuring the amount of movement of the electronic pen by three-dimensional movement, and position coordinates of the electronic pen tip using data measured by the three-axis acceleration sensor and the optical three-dimensional measuring device In a coordinate measuring method for an electronic pen data input device for a computer, comprising: a central processing unit for calculating the position of the electronic pen tip; and a communication means for transmitting the calculated position coordinates of the electronic pen tip to an external computer or a personal portable terminal. (A) The optical three-dimensional measuring device measures the tilt angle between the electronic pen and the writing surface and the height relative to the writing surface, A step of measuring three-dimensional movement information of the electronic pen by an acceleration sensor; and (B) an inclination angle of the electronic pen with respect to the measured writing surface, a height, and three-dimensional movement information of a computer or a portable terminal. Converting at the central processing unit to extract the coordinates of the electronic pen tip; and (C) transmitting the extracted coordinates of the electronic pen tip to an external computer or a portable terminal using the communication means. A coordinate measuring method for an electronic pen data input device for a computer is provided.
[0018]
In the present invention, the optical three-dimensional measuring apparatus includes a light emitting unit that emits a beam for forming a spot on a writing surface, and a sensing unit that detects the beam spot formed on the writing surface. In the coordinate measuring method of the pen data input device, the step (A) of measuring the tilt angle between the electronic pen and the writing surface and the height with respect to the writing surface are the step of emitting a beam from the light emitting unit, and the emission. Projecting the projected beam onto the writing surface to form five or more beam spots, condensing the reflected beam of the beam spot, and writing surface of the electronic pen using the collected beam And detecting information about the tilt angle and height through a position detector.
[0019]
In the present invention, in the step of detecting the tilt angle and height, the tilt angle of the electronic pen and the height relative to the writing surface are obtained by an elliptic equation using information of the five or more focused beam spots. Preferably, the method includes a step of differentiating each of the obtained inclination angle and height to obtain an inclination angular velocity and a vertical velocity from initial values.
[0020]
In the present invention, the step (B) includes a step of removing a gravitational component from the acceleration signal, a step of obtaining a moving speed of the electronic pen by first integrating the acceleration signal from which the gravitational component has been removed, and the electronic pen tip. After calculating the speed of the electronic pen, a step of correcting the accumulated error using the vertical speed with respect to the writing surface, a second-order integration of the movement speed of the electronic pen corrected for the movement accumulated error, and a displacement movement amount of the electronic pen Preferably, the method includes a step of determining the coordinate of the electronic pen tip by correcting the accumulated error of the displacement movement amount of the electronic pen.
[0021]
In the present invention, the step (B) further includes a step of low-pass filtering the acceleration signal output from the triaxial acceleration sensor, and the communication means in the step (C) is preferably based on an RF communication method. .
[0022]
In the present invention, an electronic pen having a pen-shaped housing, an optical three-dimensional measuring device for measuring an inclination angle of the central axis of the electronic pen with respect to the writing surface and a height of the electronic pen tip with respect to the writing surface; , A three-axis acceleration sensor for measuring the amount of movement of the electronic pen by three-dimensional movement, and information for transmitting the measured tilt angle, height, and amount of movement to a computer or portable terminal In the operation method of the electronic pen data input device for a computer including the communication means, (A) the inclination angle formed by the electronic pen and the writing surface and the height with respect to the writing surface are measured by the optical three-dimensional measuring device, Measuring three-dimensional motion information of the electronic pen with a three-axis acceleration sensor; and (B) regarding the measured tilt angle, height, and three-dimensional motion information. Transmitting information to the computer or portable terminal using the communication means; and (C) the tilt angle, height, and three-dimensional motion information of the electronic pen relative to the measured writing surface. And a method for measuring coordinates of an electronic pen data input device for a computer, comprising the step of extracting the coordinates of an electronic pen tip by conversion at a central processing unit of a terminal for a computer.
[0023]
In the present invention, the optical three-dimensional measuring apparatus includes a light emitting unit that emits a beam to form a spot on the writing surface, and a sensing unit that detects the beam spot formed on the writing surface. ) Measuring the tilt angle formed by the electronic pen and the writing surface and the height relative to the writing surface include projecting the emitted beam onto the writing surface to form a beam spot, and reflecting the beam spot. Preferably, the method includes the steps of focusing the beam and detecting the focused beam through a position detector.
[0024]
In the present invention, the step (C) includes a step of removing a gravitational component from the acceleration signal, a step of obtaining a moving speed of the electronic pen by first integrating the acceleration signal from which the gravitational component has been removed, and the electronic pen tip. After calculating the speed of the electronic pen, a step of correcting the accumulated error using the vertical speed with respect to the writing surface, a second-order integration of the movement speed of the electronic pen corrected for the movement accumulated error, and a displacement movement amount of the electronic pen And a step of correcting the accumulated error of the displacement movement amount of the electronic pen using the height with respect to the writing surface to determine the coordinates of the electronic pen tip.
[0025]
In the present invention, the communication means is preferably based on an RF communication method.
[0026]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, the present invention will be described in more detail with reference to the drawings. FIG. 1 is a schematic view showing the structure of an electronic pen according to the present invention. As shown in FIG. 1, the electronic pen according to the present invention includes a three-axis acceleration sensor 4 for measuring the amount of movement caused by three-dimensional movement of the pen and an optical three-dimensional measurement for measuring the tilt angle and height of the pen. The apparatus 6-A is provided. Further, a central processing unit (CPU) 5 for receiving an acceleration signal by the triaxial acceleration sensor 4 is provided, and the speed is obtained by integrating such an acceleration signal, and the position movement amount is obtained by secondary integration. The optical three-dimensional measuring apparatus 6-A includes a light emitting unit 7 that generates a beam and a light receiving unit 8 that senses the light. In the present invention, the light emitting unit 7 uses a beam to obtain five or more beam spots 13. Is projected onto the writing surface 12 to obtain information on the tilt angle and height of the electronic pen. That is, as shown in FIG. 1, when a beam is projected onto the writing surface 12 in order to obtain the spot 13 in the original ring shape, the shape and size of the ellipse connected by the angle and height of the pen with respect to the writing surface 12 are reduced. Since it changes, the coordinate value of this spot 13 is measured to measure the tilt angle and height of the pen. It is desirable to have an optical signal processing device 6 and a CPU 5 for accepting and processing information about the tilt angle, height and movement amount of the pen as described above. However, the electronic pen according to the present invention includes the CPU 5 therein, but the information obtained by the three-axis acceleration sensor 4 and the optical three-dimensional measuring device 6-A is processed by a computer or a personal portable terminal. The CPU 5 becomes unnecessary. That is, the central processing unit is selective.
[0027]
Then, it is desirable to include a battery 3 for easily using the electronic pen for a predetermined time or more and a storage device 2 for storing information related to the movement of the pen as described above. In addition, a transmission device 1 for transmitting information about the electronic pen to a computer or a personal portable terminal is required. The electronic pen according to the present invention can be wired or wireless in data transmission. In the case of wireless, it is desirable to include an RF communication device. Usually, the writing operation with a pen is constituted by a continuous operation of pen-down and pen-up, and therefore, in order to obtain such operation information, a stress sensor 9 for determining the presence or absence of contact with the writing surface 12 can be included. In addition, since it is necessary to directly record on paper or the like, an ink storage unit 10 may be further included inside the pen.
[0028]
FIG. 2 is a view showing an embodiment of an optical pen three-dimensional measuring apparatus 6-A according to the present invention. As described above, the optical three-dimensional measuring device 6-A is for measuring the height and the tilt angle of the electronic pen with respect to the writing surface 12, and can have various structures. It is as follows. The embodiment shown in FIG. 2 shows a structure having a deviation between the center axis of the pen and the optical path projected and incident by the three-dimensional measuring apparatus 6-A.
[0029]
First, if the structure is examined, the light source 21 that emits the beam and the first lens 22 that collimates the spreading beam, the grating 23 having a certain structure, and the beam 25 emitted from the light source 21 are directed again toward the writing surface 12. A second lens 24 that projects in parallel, a camera lens 27 that collects a part of the beam 26 scattered by the writing surface 12, a position detector 28 that receives the beam condensed by the camera lens 27, and the position detector The signal processing unit senses the position using 28 signals and the arithmetic unit for calculating the height and the inclination angle with respect to the writing surface 12.
[0030]
The principle from the emission of the beam to the output of information in the optical three-dimensional measurement apparatus 6-A will be described in detail as follows. First, the light source 21 emits a beam 25 such as visible light or infrared light. In this case, the light source 21 is not limited as long as it is used as a normal light source such as a laser diode or an LED (light emitting diode). The beam emitted from the light source 21 becomes, for example, a cylindrical beam parallel by the first lens 22, and is separated into five or more beams on a circumference having a certain radius by the structure of the grating 23. The beam separated from the grating 23 is projected in the direction of the writing surface 12 through the second lens 24 for a precise parallel beam. The beam projected on the writing surface 12 forms a spot 13 in a fan-like ellipse shape by the projection angle. Here, when the writing surface 12 is a scattering surface such as wood or paper, the beam spreads at various angles, and a part of the beam is condensed on the camera lens 27 and received by the position detector 28. The information on the beam thus obtained, that is, the position of the beam spot 13 is obtained by the signal processing unit, and the height and the inclination angle with respect to the electronic pen writing surface 12 are output from the coordinates of each of the five points through the calculator. Both the position detector 28 and the signal processing unit can be configured as a single position detector. Here, it is desirable that the controller has a function of controlling on / off so that the power can be cut off when the light source 21 is not operated in order to reduce power consumption.
[0031]
FIG. 3 is a view showing another embodiment of the optical pen three-dimensional measuring apparatus according to the present invention. The optical three-dimensional measuring apparatus shown in FIG. 3 is characterized in that the center axis of the beam with respect to the writing surface is made to coincide with the center axis of the electronic pen, unlike the case of FIG. The spot scanning and reflection axis is the same as the center axis of the electronic pen.
[0032]
4A to 4F are diagrams illustrating the principle of changing the shape of a beam spot according to a change in the tilt angle and the axial direction of the electronic pen in the electronic pen optical three-dimensional measuring apparatus according to the present invention. Here, the plane on which the beam is projected is shown as an XY axis, and an axis perpendicular to the projection plane is defined as Z. The pattern of the beam connected to the writing surface is changed by changing the inclination angle variables θ1, θ2, and θ3 in the three directions. θ1 means the angle between the axis Zs in the normal direction with respect to the writing surface 12 and the central axis of the electronic pen, and θ2 is the rotated angle when the writing surface Xs-Ys and the central axis of the electronic pen are projected onto the writing surface. And θ3 means a rotation angle with respect to the center axis of the electronic pen itself. Further, δZa indicates the distance between the electronic pen tip and the writing surface. Here, the beam pattern is elliptical, and the major axis and minor axis of the ellipse and the tilt angle of the ellipse change as the tilt angle with respect to the writing surface 12 changes. Further, the size of the ellipse changes due to the pen movement in the height direction with respect to the writing surface, but when the electronic pen is close to the writing surface, the size of the entire ellipse is enlarged, and when the electronic pen is moved away, the size of the ellipse tends to be reduced. Therefore, if the beam pattern on the writing surface is read and analyzed, the tilt angle and height of the electronic pen with respect to the writing surface can be obtained.
[0033]
FIG. 4B shows the change of the major axis and shortening of the ellipse due to the change of θ1, and shows the case where θ1 is smaller than 0, the same case and the larger case from the left side form, respectively. FIG. 4C is a diagram showing changes in the major axis, minor axis, and inclination angle of the ellipse due to the change of θ2, and shows the same case and the same case when θ2 is smaller than 0 as in FIG. 4B. FIG. 4D shows the change of the spot on the circumference due to the change of θ3, where θ3 indicates the rotation angle of the central axis of the electronic pen, and therefore the positions of the five spots change according to the change of θ3. I showed it briefly. In this way, the position of the spot changes, but the shape of the ellipse does not change. However, since the elliptical image measured by the position detector 28 appears in a shape in which the image plane is rotated by θ3, the rotation angle can be measured. FIG. 4E shows a drawing form according to the change of δZa. As described above, this indicates a tendency that the entire ellipse is enlarged when the electronic pen is close to the writing surface and is reduced when the electronic pen is moved away.
[0034]
FIG. 4F shows the geometric relationship between the position detector image plane Q and the spot connected to the writing plane. Here, the coordinates Xc, Yc, and Zc are the coordinate system of the camera lens. The focal point of the position detector is defined as fc, the beam radius is defined as r, and the angle between the position detector lens axis and the light source axis is defined as Φ. Then, variables to be measured by the optical three-dimensional measuring apparatus are tilt angles θ1 and θ2 and a rotation angle θ3 of the writing surface with respect to the beam axis, and beam center coordinates Px and Pz connected to the writing surface in the camera lens coordinate system.
[0035]
If defined by an elliptic equation formed by five or more beam spots connected to the image plane Q, the elliptic equation can be expressed as follows.
[Expression 1]
ω 1 , Ω 2 , Ω Three , Ω Four , Ω Five Is a function of the focal length fc of the lens, the radius r of the projected beam, the angle Φ between the camera lens axis and the light source axis, the vertical distance Pz of the electronic pen relative to the writing surface, and the tilt angles θ1 and θ2 of the electronic pen. Since there are five unknowns in the elliptic equation on the XY plane in Equation 1, the coordinates of the video points with respect to a minimum of 5 points are necessary. Therefore, it is desirable that the optical pen three-dimensional measuring apparatus according to the present invention is configured so that the beam emitted from the light source forms five or more spots on the image plane. This will be described in more detail with reference to Equation 2 below.
[Expression 2]
[0036]
If the elliptic equation of the image plane is calculated using the coordinates of the five spots, ω 1 , Ω 2 , Ω Three , Ω Four , Ω Five Here, the focal length fc of the lens, the radius r of the projected beam, and the angle Φ formed by the camera lens axis and the light source are known when the electronic pen according to the present invention is manufactured. θ1 and θ2 to ω 1 , Ω 2 Can be calculated primarily from ω Three , Ω Four , Ω Five Px and Pz can be determined. On the other hand, the rotation angle θ3 of the beam is obtained by calculating the angle at which the spot is rotated in the image as in the method presented in FIG. 4D. At this time, it is desirable to determine the rotation angle θ3 after converting the elliptic equation on the image plane into a circle equation. Since the geometrical transformation relationship between the beam axis and the camera axis is calculated through Equation 2, the virtual lens connected to the camera image plane can be obtained by matching the beam axis of the light source through movement and rotation of the camera lens central axis. The image for the circle can be calculated, and the angle of rotation of the spot at the center of the circle is calculated to determine the rotation angle θ3.
[0037]
The relationship between the parameters of the elliptic equation and the writing surface is described in a well-known reference (D. Wei, “The use of tap light for object recognitions”: Robot vision, IFS Ltd. p143-153 and “Planar Object Recognition”). A similar technology is introduced in "Development of a cylindrical laser beam projection type visual information processing system": Kim Zonghyun, Master's thesis, Department of Mechanical Engineering, Korea Institute of Science and Technology, 1989).
[0038]
FIG. 5 is a diagram showing coordinate systems in the three-axis acceleration sensor 4, the optical three-dimensional measuring device 6-A, and the electronic pen tip 11 used in the present invention. First, the coordinate system of the electronic pen tip is defined as Os, the coordinate system of the triaxial acceleration sensor 4 is defined as Oa, and the coordinate system of the optical three-dimensional measuring device 6-A is defined as Oc. Since the three coordinate systems are different due to the structure of the electronic pen, the inclination angle and height information of the electronic pen obtained by the optical three-dimensional measuring device 6-A are the inclination angle and height obtained by the electronic pen tip 11. There is a difference with information. Particularly, in the embodiment of the optical three-dimensional measuring apparatus 6-A shown in FIG. In order to correct this, it is desirable to calculate the vector E in advance as shown in FIG. Further, if the vector D is obtained from the difference between the inclination angle and the inclination angular velocity obtained in the Oc coordinate system and the information obtained in the Oa coordinate system of the triaxial acceleration sensor 4, a geometric transformation relationship between them can be obtained. The speed and the amount of position movement obtained in the coordinate system Oa of the triaxial acceleration sensor 4 are eventually converted into the coordinate system Os of the electronic pen tip, and in this case, the conversion relationship between Oa and Os can be represented by a vector L. It is a variable that can be determined in the design process of the electronic pen according to the present invention.
[0039]
FIG. 6 shows the tilt angle and height measurement variables with respect to the writing surface of the electronic pen necessary for describing the movement of the electronic pen according to the present invention, the velocity, angular velocity, and the velocity of the electronic pen tip 11 in the triaxial acceleration sensor 4 coordinate system Oa. It shows the velocity of the pen tip in the Os coordinate system and the normal vector n of the writing surface.
[0040]
FIG. 7 shows a basic structure of a sensory net for sensor fusion, which is an information processing process of the electronic pen according to the present invention. First, the speed and position of the electronic pen are determined by FTM1 (feature transformation module) using the signal output from the three-axis acceleration sensor 4, and then the signal output from the optical three-dimensional measuring apparatus 6-A is used in FTM2 An inclination angle, speed, and height with respect to the writing surface 12 of the electronic pen are obtained. In the next stage, the information received from the 3-axis acceleration sensor 4 and the optical three-dimensional measuring device 6-A by CSM1 (constant satifaction module) and CSM2 is mutually fused by using the mathematical limiting condition formula given by the following formula 2. As a result, data with reduced errors is fed back to the FTM 1 and new velocity and acceleration signals can be obtained. Formula 2 shows the limiting condition formulas for CSM1 (position) and CSM2 (speed), respectively. The basic principle of the sensor fusion technique is described in a well-known reference (Sukhan Lee, “Sensor fusion and planning with prescription-action network”, 1996, International conference on Multisense intensifier and Surgeon intension.)
[Equation 3]
Here, the restriction condition formula (1) of CSM1 is the restriction condition for the height δZs of the writing surface when the position components Xa, Ya, Za obtained inside the electronic pen are converted into the coordinate system Xs, Ys, Zs of the electronic pen tip 11. An expression is shown. The positions Xs, Ys, and Zs are obtained by integrating the acceleration signal in the electronic pen to obtain the velocity and then integrating the acceleration signal again to indicate the position. Here, α, β, γ, and λ are constants obtained from the length to the tip of the electronic pen and the tilt angle with respect to the writing surface of the electronic pen. Here, since the amount of position movement inside the electronic pen according to the limiting conditional expression can affect the height of the electronic pen tip 11, the height δZs of the electronic pen tip 11 is satisfied by a linear combination of component errors of each signal. In this way, the error accumulated in the position signals Xs, Ys, Zs of each sensor can be reduced.
[0041]
On the other hand, the CSM 2 represents the velocity component Va obtained by single integration of the acceleration signal inside the electronic pen, the angular velocity Ω of the electronic pen, and the length L to the tip of the electronic pen as a vector. The vertical velocity Vs / n is calculated from the linear velocity Vs at the pen tip and the plane normal vector n. This is because the velocity components Vax, Vay, and Vaz obtained inside the electronic pen satisfy the limiting condition formula for the writing surface, and the relationship of Vs / n = 0 when the electronic pen is in contact with the writing surface. It means to become. Further, even when the electronic pen is not in contact with the writing surface, the linear combination of the respective speed components must satisfy the limiting conditional expression, so that the cumulative error with respect to the speed can be reduced. Through the sensor fusion of the feedback system according to the present invention having the above-described structure, an increase in accumulated error can be prevented, and the amount of information can be maintained within a certain error range.
[0042]
FIG. 8 is a flowchart regarding data processing in the three-axis acceleration sensor 4 of the electronic pen and the optical three-dimensional measuring apparatus 6-A according to the present invention. First, if the ellipsoidal information of the five beam spots 13 obtained from the beam scattered on the writing surface 12 is used by the optical three-dimensional measuring device 6-A, the height of the electronic pen relative to the writing surface 12 and the position detector 28 will be described. Find the tilt angle. The process of obtaining such data is calculated by obtaining an elliptic equation using the coordinates of five or more beam spots 13 as described in FIG. If information on each inclination angle and height is obtained, an inclination angular velocity and a vertical velocity, which are differential values thereof, can be obtained from initial values.
[0043]
Then, the information signal regarding the acceleration of the electronic pen is read by the triaxial acceleration sensor 4, and at this time, the information signal output from the triaxial acceleration sensor 4 has a lot of noise, so low-pass filtering is performed. In general, since a static gravity component is always included in an acceleration signal, it is necessary to remove the gravity component from the acceleration signal in order to extract a motion signal by a pure writing operation. Since it is difficult to obtain the magnitude of each signal with respect to gravity, it is necessary to remove the gravity component with an acceleration value that changes according to the change in the tilt angle of the electronic pen using the gravity value obtained in the initial stationary state in advance. . Therefore, an acceleration signal by pure electronic pen movement is obtained. Next, such an acceleration signal can obtain information on the moving speed of the electronic pen through a first-order integration. However, since an accumulated error due to integration occurs due to noise in the information signal, Equation (3), which is a conditional expression for the speed, is applied using the speed obtained at the tip of the electronic pen in order to correct this. In order to obtain the speed at the electronic pen tip 11, it is necessary to consider the rotational angular speed of the electronic pen and the geometric variables of the electronic pen. Thus, a corrected speed value in which noise is reduced in the speed signal is obtained. This is continuously updated to a new speed value as shown in FIG.
[0044]
Next, second-order integration is performed at the moving speed obtained by the first-order integration to obtain the displacement movement amount of the electronic pen. The accumulated position error corresponding to this is calculated by using (1) of the equation 3 to obtain a newly corrected position signal as shown in FIG. The accumulated error that can be caused by double integration with the acceleration signal through the above steps is corrected step by step using each of the limiting condition equations of Equation 2 to finally move the electronic pen movement amount Xs, Ys, Zs. Is required. By using such movement amount data of the electronic pen, position data of the electronic pen according to the present invention can be obtained.
[0045]
FIG. 8 shows an embodiment in which the central processing unit 5 calculates the tilt angle, tilt angular velocity, height and vertical velocity of the electronic pen from the three-axis acceleration sensor 4 and the optical three-dimensional measuring device 6-A. As described above, such data processing is calculated in a state where the three-axis acceleration sensor 4, the optical three-dimensional measuring device 6-A, and the central processing unit 5 are provided inside the electronic pen according to the present invention, and the result value is calculated by the computer. Alternatively, it can be transmitted to a personal portable telephone terminal by wire or wireless, and only the measured amount can be transmitted and calculated by a computer or a central processing unit of the personal portable terminal.
[0046]
【The invention's effect】
According to the present invention, by integration of acceleration due to gravitational acceleration and noise of information signal of recorded information by operation of the wired / wireless electronic pen in a state where the writing surface is in contact with or disconnected from a computer or personal portable terminal. There is an advantage that the pure position coordinates of the electronic pen tip can be easily obtained by minimizing the accumulated error.
[Brief description of the drawings]
FIG. 1 is a schematic view of an electronic pen data input device for a computer according to the present invention.
FIG. 2 is a view illustrating an optical pen three-dimensional measuring apparatus according to an embodiment of the present invention.
FIG. 3 is a view showing another embodiment of the optical pen three-dimensional measuring apparatus of the electronic pen according to the present invention;
FIG. 4A is a diagram illustrating a principle of changing the shape of a beam spot according to a change in tilt angle and axial direction of an electronic pen in an optical pen three-dimensional measuring apparatus according to the present invention.
FIG. 4B is a view similar to FIG. 4A.
FIG. 4C is a view similar to FIG. 4A.
FIG. 4D is a view similar to FIG. 4A.
FIG. 4E is a view similar to FIG. 4A.
FIG. 4F is a view similar to FIG. 4A.
FIG. 5 is a diagram showing coordinate systems in a three-axis acceleration sensor, an optical three-dimensional measuring device, and an electronic pen chip used in the present invention.
FIG. 6 shows the tilt angle and height measurement variables with respect to the writing surface of the electronic pen necessary to describe the movement of the electronic pen according to the present invention, the velocity in the triaxial acceleration sensor coordinate system Oa, the angular velocity, and the Os coordinate of the electronic pen tip. It is the figure which showed the speed of the pen tip in the system, and the normal vector n of the writing surface.
FIG. 7 is a diagram illustrating a basic structure of a perceptual net for sensor fusion that is an information processing process of an electronic pen according to the present invention.
FIG. 8 is a view showing a flowchart regarding data processing in the three-axis acceleration sensor of the electronic pen and the optical three-dimensional measuring apparatus according to the present invention.
[Explanation of symbols]
1 Transmitter
2 Storage device
3 battery
4 3-axis acceleration sensor
5 Central processing unit
6 Optical signal processor
6-A Optical 3D measuring device
7 Light emitting part
8 Light receiver
9 Stress sensor
10 Ink container
11 Electronic pen tip
12 Writing surface
13 Beam spot
21 Light source
22 First lens
23 lattice
24 Second lens
25 Emission beam
26 Spot reflected light
27 Camera lens
28 Position detector
29 half mirror

Claims (24)

  1. In an electronic pen having a pen-shaped housing,
    An optical three-dimensional measuring device for measuring the tilt angle of the center axis of the electronic pen with respect to the writing surface and the height of the electronic pen with respect to the writing surface;
    A three-axis acceleration sensor for measuring the amount of movement by three-dimensional movement of the electronic pen;
    An electronic pen data input device for a computer, comprising: communication means for transmitting information relating to the measured tilt angle, height, and movement amount to an external computing device.
  2. The optical three-dimensional measuring apparatus is
    A light emitting unit for emitting a beam to form a spot on a predetermined writing surface;
    The electronic pen data input device for a computer according to claim 1, further comprising a sensing unit that senses a beam spot formed on the writing surface.
  3. The light emitting unit
    A light source that emits a beam;
    A first lens that collimates the divergent beam produced by the light source;
    A grating that separates the beam through the first lens;
    The electronic pen data input device for a computer according to claim 2, further comprising: a second lens that projects a beam that has passed through the first lens toward a writing surface.
  4. The sensing unit is
    A camera lens that primarily condenses the spot beam tied to the writing surface;
    The electronic pen data input device for a computer according to claim 2, further comprising a position detector that senses a beam that has passed through the camera lens.
  5. The optical three-dimensional measuring apparatus is
    A signal processing circuit for detecting the position of the beam spot using the spot beam received by the sensing unit;
    5. The computer according to claim 2, further comprising an arithmetic unit that calculates a height and an inclination angle of the electronic pen with respect to the writing surface using the position of the detected beam spot. The electronic pen data input device for a computer according to one item.
  6. 5. The electronic pen data input device for a computer according to claim 2, wherein the electronic pen further includes a controller for adjusting on / off of a light source of the light emitting unit.
  7. 5. The center axis of the beam emitted from the light emitting unit of the optical three-dimensional measuring apparatus shows a predetermined deviation from the center axis of the electronic pen. 6. Electronic pen data input device for computers.
  8. The electronic pen data input device for a computer according to claim 1, further comprising storage means for storing the information calculated by the external arithmetic device.
  9. The electronic pen data input device for a computer according to claim 1, wherein the communication means is an RF communication device.
  10. The electronic pen data input device for a computer according to claim 1, wherein the electronic pen further includes a battery for driving for a predetermined time.
  11. The electronic pen further includes a central processing unit for calculating the position of the electronic pen tip using data measured by the three-axis acceleration sensor and the optical three-dimensional measuring device. The electronic pen data input device for computer as described.
  12. The electronic pen data input device for a computer according to claim 1, further comprising a stress sensor connected to the electronic pen chip for detecting presence or absence of contact with the writing surface of the electronic pen.
  13. 3. The computer according to claim 1, further comprising an ink storage unit connected to the electronic pen chip for ejecting ink when the electronic pen is in contact with a writing surface for writing. 4. Electronic pen data input device.
  14. An electronic pen having a pen-shaped housing;
    An optical three-dimensional measuring device for measuring the tilt angle of the center axis of the electronic pen with respect to the writing surface and the height of the electronic pen with respect to the writing surface;
    A three-axis acceleration sensor for measuring the amount of movement by three-dimensional movement of the electronic pen;
    A central processing unit for calculating the position coordinates of the electronic pen tip using data measured by the three-axis acceleration sensor and the optical three-dimensional measuring device;
    In the coordinate measurement method for an electronic pen data input device for a computer, including communication means for transmitting the calculated position coordinates of the electronic pen tip to an external computer or a personal portable terminal,
    (A) Measuring an inclination angle formed by the electronic pen and a writing surface by the optical three-dimensional measuring device and a height with respect to the writing surface, and measuring three-dimensional motion information of the electronic pen by the three-axis acceleration sensor. When,
    (B) extracting the coordinates of the electronic pen tip by converting the tilt angle, height, and three-dimensional motion information of the electronic pen relative to the measured writing surface with a central processing unit of a computer or a portable terminal;
    (C) transmitting the extracted coordinates of the electronic pen tip to an external computer or a portable terminal using the communication means, and a coordinate measuring method for an electronic pen data input device for a computer.
  15. The optical three-dimensional measuring apparatus is
    A light emitting unit that emits a beam for forming a spot on the writing surface;
    A sensing unit for sensing a beam spot formed on the writing surface,
    The step of measuring the tilt angle formed by the electronic pen and the writing surface in step (A) and the height relative to the writing surface,
    Emitting a beam from the light emitting portion;
    Projecting the emitted beam onto a writing surface to form five or more beam spots;
    Condensing the reflected beam of the beam spot;
    15. The computer electronic pen according to claim 14, further comprising a step of detecting information about an inclination angle and a height formed on a writing surface of the electronic pen using the focused beam through a position detector. Coordinate measurement method for data input device.
  16. Detecting the tilt angle and height comprises:
    Obtaining the tilt angle of the electronic pen and the height relative to the writing surface by means of an elliptic equation using information on the collected five or more beam spots;
    The coordinate measurement of the electronic pen data input device for a computer according to claim 15, further comprising differentiating each of the obtained inclination angle and height to obtain an inclination angular velocity and a vertical velocity from initial values. Method.
  17. In step (B),
    Removing the gravitational component from the acceleration signal;
    Obtaining a moving speed of the electronic pen by first integrating the acceleration signal from which the gravity component has been removed;
    After determining the speed of the electronic pen tip, correcting the accumulated error using the vertical speed with respect to the writing surface;
    Obtaining a displacement movement amount of the electronic pen by second-order integration of the movement speed of the electronic pen corrected for motion accumulated error;
    17. The electronic pen data for a computer according to claim 14, further comprising: correcting an accumulated error of the displacement movement amount of the electronic pen to obtain coordinates of the electronic pen tip. Coordinate measurement method for input device.
  18. The method of measuring a coordinate of an electronic pen data input device for a computer according to claim 17, further comprising a step of performing low-pass filtering for removing noise on an acceleration signal output from the three-axis acceleration sensor.
  19. 15. The coordinate measuring method for an electronic pen data input device for a computer according to claim 14, wherein the communication means in the step (C) is based on an RF communication method.
  20. An electronic pen having a pen-shaped housing;
    An optical three-dimensional measuring device for measuring an inclination angle of the central axis of the electronic pen with respect to the writing surface and a height of the electronic pen chip with respect to the writing surface;
    A three-axis acceleration sensor for measuring the amount of movement by three-dimensional movement of the electronic pen;
    In a method of operating an electronic pen data input device for a computer, including communication means for transmitting information about the measured tilt angle, height, and movement amount to a computer or a portable terminal,
    (A) Measuring an inclination angle formed by the electronic pen and a writing surface by the optical three-dimensional measuring device and a height with respect to the writing surface, and measuring three-dimensional motion information of the electronic pen by the three-axis acceleration sensor. When,
    (B) transmitting information on the measured tilt angle, height, and three-dimensional motion information to a computer or a portable terminal using the communication means;
    (C) converting the tilt angle, height, and three-dimensional motion information of the electronic pen relative to the measured writing surface with a central processing unit of a computer or a portable terminal to extract the coordinates of the electronic pen tip; A coordinate measuring method for an electronic pen data input device for a computer, comprising:
  21. The optical three-dimensional measuring apparatus is
    A light emitting unit that emits a beam to form a spot on the writing surface;
    A sensing unit for sensing a beam spot formed on the writing surface,
    The step of measuring the tilt angle formed by the electronic pen and the writing surface in step (A) and the height relative to the writing surface,
    Projecting the emitted beam onto a writing surface to form a beam spot;
    Condensing the reflected beam of the beam spot;
    21. The method for measuring coordinates of an electronic pen data input device for a computer according to claim 20, further comprising: detecting the condensed beam through a position detector.
  22. In step (C),
    Removing the gravitational component from the acceleration signal;
    Obtaining a moving speed of the electronic pen by first integrating the acceleration signal from which the gravity component has been removed;
    After determining the speed of the electronic pen tip, correcting the accumulated error using the vertical speed with respect to the writing surface;
    Obtaining a displacement movement amount of the electronic pen by second-order integration of the movement speed of the electronic pen corrected for motion accumulated error;
    23. The computer according to claim 20, further comprising: correcting the accumulated error of the displacement movement amount of the electronic pen using a height with respect to a writing surface to obtain coordinates of the electronic pen tip. Coordinate measuring method of electronic pen data input device.
  23. 23. The method for measuring coordinates of an electronic pen data input device for a computer according to claim 22, further comprising performing low-pass filtering for removing noise on an acceleration signal output from the three-axis acceleration sensor.
  24. 21. The coordinate measuring method of the electronic pen data input device for a computer according to claim 20, wherein the communication means in the step (B) is based on an RF communication method.
JP2002109737A 2001-04-12 2002-04-11 Electronic pen data input device for computer and coordinate measuring method Expired - Fee Related JP3837357B2 (en)

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